// --------------------------------------------------------------------------------------------------------------------
// <copyright file="DifferentialDriveNoiseModelParams.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
// </copyright>
// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Navigation.Localization
{
    using System.Runtime.Serialization;

    /// <summary>
    /// Contains the values needed for adding modeling differential drive given a particular odometry reading
    /// </summary>
    [DataContract(Name = "NoiseParams")]
    public class DifferentialDriveNoiseModelParams
    {
        /// <summary>
        /// The file name for serializing this data.
        /// </summary>
        public const string Filename = "DifferentialDriveNoiseModelParams.xml";

        /// <summary>
        /// Gets or sets the maximum Standard deviation of heading error that results from the caster being turned.
        /// </summary>
        [DataMember]
        public double MaximumPostRotationRotationalNoiseIntroducedByCasterInRadiansStdDeviation { get; set; }

        /// <summary>
        /// Gets or sets the minimum distance at which the robot will suffer the full effect of a turned caster
        /// </summary>
        [DataMember]
        public double MinimumDistanceForFullImpactOfCasterInMeters { get; set; }

        /// <summary>
        /// Gets or sets the mean rotation error introduced from rotating
        /// </summary>
        [DataMember]
        public double RotationMeanErrorFromRotatingByPercentage { get; set; }

        /// <summary>
        /// Gets or sets the mean rotation error introduced from translating
        /// </summary>
        [DataMember]
        public double RotationMeanErrorFromTranslatingInRadsPerMeter { get; set; }

        /// <summary>
        /// Gets or sets the rotation standard deviation introduced from rotating
        /// </summary>
        [DataMember]
        public double RotationStdDevFromRotatingByPercentage { get; set; }

        /// <summary>
        /// Gets or sets the rotation standard deviation introduced from translating
        /// </summary>
        /// <remarks>NOT USED? REMOVE?</remarks>
        [DataMember]
        public double RotationStdDevFromTranslatingInRadsPerMeter { get; set; }

        /// <summary>
        /// Gets or sets the mean translation error introduced from translating
        /// </summary>
        [DataMember]
        public double TranslationMeanErrorFromTranslatingInMetersPerMeter { get; set; }

        /// <summary>
        /// Gets or sets the translation standard deviation introduced from translating
        /// </summary>
        [DataMember]
        public double TranslationStdDevFromTranslatingInMetersPerMeter { get; set; }

        /// <summary>
        /// Gets or sets the mean translation error introduced from rotating
        /// </summary>
        /// <remarks>NOT USED? REMOVE?</remarks>
        [DataMember]
        public double TranslationMeanErrorFromRotatingInMetersPerRad { get; set; }

        /// <summary>
        /// Gets or sets the translation standard deviation introduced from rotating
        /// </summary>
        /// <remarks>NOT USED? REMOVE?</remarks>
        [DataMember]
        public double TranslationStdDevFromRotatingInMetersPerRad { get; set; }

        /// <summary>
        /// Gets or sets the mean translation error introduced from turret rotating.
        /// </summary>
        [DataMember]
        public double TranslationMeanErrorFromTurretRotatingInMetersPerRadians { get; set; }

        /// <summary>
        /// Gets or sets the translation standard deviation introduced from turret rotating.
        /// </summary>
        [DataMember]
        public double TranslationStdDevFromTurretRotatingInMetersPerRadians { get; set; }

        /// <summary>
        /// Gets or sets the mean rotation error introduced from turret rotating.
        /// </summary>
        [DataMember]
        public double RotationMeanErrorFromTurretRotatingInMetersPerRad { get; set; }

        /// <summary>
        /// Gets or sets the rotation standard deviation introduced from turret rotating.
        /// </summary>
        [DataMember]
        public double RotationStdDevFromTurretRotatingInMetersPerRad { get; set; }
    }
}
